4+ years of hands-on robotic simulation experience (Senior); 7+ years (Staff)
Experience with robotic hands or high-DOF manipulators
Demonstrated experience with contact-rich simulation - not just kinematics and trajectory playback
Experience with physics parameter identification (sysid) or domain randomization pipelines
Proven ability to operate as a domain owner: setting technical direction, making independent architectural decisions, and driving cross-functional alignment through expertise
Strong Python skills; C++ a plus
Solid fundamentals: rigid body dynamics, contact mechanics, collision geometry, spatial math
Hardware-grounded: experience running sim-to-real comparisons with real sensor data
Deep working knowledge of Isaac Sim, MuJoCo, or equivalent modern robotics simulator
Familiarity with tactile sensing or F/T sensor integration in simulation
USD proficiency: composition arcs, layers, stages
Background in teleoperation or motion retargeting
EDUCATION and/or EXPERIENCE
MS or PhD in Robotics, Computer Science, Mechanical Engineering, or related fields.
PHYSICAL REQUIREMENTS
Prolonged periods of sitting at a desk and working on a computer
Must be able to lift 15 pounds at times
Vision to read printed materials and a computer screen
Hearing and speech to communicate
*This is a direct hire. Please, no outside Agency solicitations.
Benefits
Health insuranceVision insurance
Additional Information
Apptronik is a human-centered robotics company developing AI-powered robots to support humanity in every facet of life. Our flagship humanoid robot, Apollo, is built to collaborate thoughtfully with people, starting with critical industries such as manufacturing and logistics, with future applications in healthcare, the home, and beyond.
We operate at the cutting edge of embodied AI, applying our expertise across the full robotics stack to solve some of society's most important problems. You will join a team dedicated to bringing Apollo to market at scale, tackling the complex challenges like safety, commercialization, and mass production to change the world for the better.
JOB SUMMARY
We are seeking a Staff Simulation Engineer to be the sole owner of dexterous hand simulation at Apptronik.
This is a high-autonomy, high-impact individual contributor role. You will define how hands are represented in simulation - from contact geometry and physics fidelity all the way through sim-to-real validation - and you will be the authoritative technical voice across Mechanical Design, Controls, and Hardware whenever simulation of the hand is in scope. There is no team beneath you, but your work directly unblocks multiple teams.
Core mandate: make simulation a reliable predictor of physical hand behavior, and own that standard end-to-end.
ESSENTIAL DUTIES AND RESPONSIBILITIES
Contact Dynamics & Physics Fidelity: Own the accuracy of contact simulation for high-DOF robotic hands. Model and tune contact parameters - stiffness, damping, friction, restitution - against real hardware measurements. Develop and maintain hand-specific collision geometry (primitive decomposition, mesh optimization) to ensure simulation contact behavior matches physical interaction.
Sim-to-Real Validation : Design and execute systematic sim-to-real validation workflows. Run side-by-side comparisons of grasping stability, fingertip contact forces, and joint behavior between simulation and hardware. Drive iterative parameter calibration using real sensor data - encoders, F/T sensors, tactile arrays - until simulation predictions are quantifiably reliable
Sensor & Actuator Modeling: Build accurate models of the hand's sensing and actuation systems within simulation - including tactile sensor response, actuator dynamics (compliance, backlash), and encoder noise characteristics.
Evaluation Scene Construction: Design and implement evaluation environments and dexterity benchmarks in Isaac Lab / Isaac Sim. Own the physical property modeling - contact materials, object mass/inertia, surface textures - required for high-fidelity task simulation.
Asset Pipeline: Contribute to CAD-to-USD conversion workflows as needed - collision mesh generation, joint limit extraction, kinematic parameter import. This is infrastructure support, not a primary focus.
SKILLS AND REQUIREMENTS
Apptronik · Austin, TX